//-------------------------------------------
// Sip 1X
// Made by:Crisan Vasile-Rares 2001
// cvr@email.ro
// -------------------------------------------
	
#include<stdio.h>
	#include<conio.h>
	#include<dos.h>
	#include<math.h>

int port=0x378;
unsigned char bit[4] = 
               {0x41,0x84,0x42,0x88}
     
/* ----------------------
| D7 | 0 | 1 | 0 | 1 |
| D6 | 1 | 0 | 1 | 0 |
| D5 | 0 | 0 | 0 | 0 |
| D4 | 0 | 0 | 0 | 0 |
| D3 | 0 | 0 | 0 | 1 |
| D2 | 0 | 1 | 0 | 0 |
| D1 | 0 | 0 | 1 | 0 |
| D0 | 1 | 0 | 0 | 0 |
----------------------		|data|41h|84h|442h|88h|
 --------------->  +
<---------------  - */
	
void step_fwd(void);
void step_bwd(void);
void clear_port(void);

 int rst;
 int index=0;
 int f;  // frequency
 int T;  // period
 float coord;
 float no_steps;
 float increment=0.397;
 float er_poz;

 main()
{      clear_port();
   jmp1:
	clrscr();
	#include "c:\sip1x\antet.h"
	printf("\n\n   \xAF Give coordinate between (0,220mm] ");
	scanf("%f",&coord);
	if(coord>220||coord<=0)
	  {
	    printf("\n\t\t ERROR!!!");
	    delay(1000);
	    goto jmp1;
	  }
   jmp2:
	printf("   \xAF Give frecquency of pulses between [10Hz;250Hz] ");
	scanf("%d",&f);
	if(f<10||f>250)
	  {
	    printf("\n\t\t ERROR!!!\n");
	    delay(1000);
clrscr();
#include"c:\borlandc\stepper\antet.h"printf("\n\n");
    goto jmp2;
	  }
	clrscr();
#include"c:\borlandc\stepper\antet.h"
T=1000/f;  // in ms
printf("\n\n   \xAF Coord. is %g mm ",coord);
printf("\n   \xAF Frequency is %d Hz",f);
printf("\n   \xAF Period is %d ms",T);
no_steps=coord/increment;
float j,k;
k=no_steps;
j=abs(no_steps);
printf("\n\n\t\t\t\t\t  \xAE Number of steps:  %g",j);
k=k-j;
er_poz=k*increment;
printf("\n\t\t\t\t\t  \xAE Positioning error is: %g mm ",er_poz);
	int i; 
	for(i=1;i<=j;i++)
	   {
	    step_fwd();
	   }
	printf("\n\n\n\t\t........ For moving back press any key");
	getch();
	for(i=1;i<j;i++)
	   {
	    step_bwd();
	   }
	outp(0x378,0x0);
	printf("\n\n\n\n\n\n\t Another positioning ? <Yes=1/No=2> ");
	scanf("%d",&rst);
	if(rst==1)
	   {
	    goto jmp1;
	   }
	else {
		printf("\n\t Press any key for end of program!");
		getch();
	     }
    return(0);
 }
    void step_fwd()
      {
	 if(++index==4)
	 index=0;
	 outp(port,bit[index]);
	 delay(T);
      }

    void step_bwd()
      {
	if(--index<0)
	index=3;
	outp(port,bit[index]);
	delay(T);
      }

    void clear_port()
     {
	outp(port,0x0);
	delay(T);
     }

// antet.h
{
int w;
printf("\xC9");
for(w=1;w<79;w++)
	{
		printf("\xCD");
	}
printf("\xBB");
printf("\xBA            SISTEM  INCREMENTAL  DE  POZITIONARE    SIP1x   ver1.0            \xBA");
printf("\xC8");
for(w=1;w<79;w++)
	{
		printf("\xCD");
	}
printf("\xBC");
 }